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Commit 10c64adb authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Merge branch 'add-const' into 'devel'

Add const to many places

See merge request !9
parents a0905c6f 20b086ce
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1 merge request!9Add const to many places
......@@ -69,13 +69,13 @@ class ProcessorGnssFix : public ProcessorBase
*
* Returns true if processCapture() should be called after the provided capture arrived.
*/
virtual bool triggerInCapture(CaptureBasePtr) override;
virtual bool triggerInCapture(CaptureBasePtr) const override;
/** \brief trigger in key-frame
*
* The ProcessorTracker only processes incoming captures, then it returns false.
*/
virtual bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const Scalar& _time_tolerance) override {return false;}
virtual bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const Scalar& _time_tolerance) const override {return false;}
/** \brief store key frame
*
......@@ -89,7 +89,7 @@ class ProcessorGnssFix : public ProcessorBase
*/
virtual bool storeCapture(CaptureBasePtr);
virtual bool voteForKeyFrame() override;
virtual bool voteForKeyFrame() const override;
private:
FactorBasePtr emplaceFactor(FeatureBasePtr _ftr_ptr);
......@@ -100,7 +100,7 @@ class ProcessorGnssFix : public ProcessorBase
};
inline bool ProcessorGnssFix::triggerInCapture(CaptureBasePtr)
inline bool ProcessorGnssFix::triggerInCapture(CaptureBasePtr) const
{
return true;
}
......
......@@ -82,15 +82,15 @@ class ProcessorGnssSingleDiff : public ProcessorBase
*
* Returns true if processCapture() should be called after the provided capture arrived.
*/
virtual bool triggerInCapture(CaptureBasePtr) override;
virtual bool triggerInCapture(CaptureBasePtr) const override;
/** \brief trigger in key-frame
*
* The ProcessorTracker only processes incoming captures, then it returns false.
*/
virtual bool triggerInKeyFrame(FrameBasePtr _keyframe, const Scalar& _time_tolerance) override {return false;}
virtual bool triggerInKeyFrame(FrameBasePtr _keyframe, const Scalar& _time_tolerance) const override {return false;}
virtual bool voteForKeyFrame() override;
virtual bool voteForKeyFrame() const override;
private:
......@@ -101,7 +101,7 @@ class ProcessorGnssSingleDiff : public ProcessorBase
};
inline bool ProcessorGnssSingleDiff::triggerInCapture(CaptureBasePtr)
inline bool ProcessorGnssSingleDiff::triggerInCapture(CaptureBasePtr) const
{
return true;
}
......
......@@ -139,7 +139,7 @@ bool ProcessorGnssFix::rejectOutlier(FactorBasePtr fac)
return false;
}
bool ProcessorGnssFix::voteForKeyFrame()
bool ProcessorGnssFix::voteForKeyFrame() const
{
// Depending on time since the last KF with gnssfix capture
if (!last_KF_ || (incoming_capture_->getTimeStamp() - last_KF_->getTimeStamp()) > params_gnss_->time_th)
......
......@@ -100,7 +100,7 @@ FactorBasePtr ProcessorGnssSingleDiff::emplaceFactor(FeatureBasePtr _ftr)
return nullptr;
}
bool ProcessorGnssSingleDiff::voteForKeyFrame()
bool ProcessorGnssSingleDiff::voteForKeyFrame() const
{
if (last_KF_==nullptr)
return true;
......
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